<group>
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R = <a href="%pathto:geometry.vl_rodr;">VL_RODR</a>(OM) where OM a 3-dimensional column vector computes the
Rodrigues' formula of OM, returning the rotation matrix R =
expm(vl_hat(OM)).
</p><p>
[R,DR] = <a href="%pathto:geometry.vl_rodr;">VL_RODR</a>(OM) computes also the derivative of the Rodrigues
formula. In matrix notation this is the expression
</p><pre>
        d(vec expm(vl_hat(OM)) )
  dR = ----------------------.
               d om^T
</pre><p>
[R,DR]=<a href="%pathto:geometry.vl_rodr;">VL_RODR</a>(OM) when OM is a 3xK matrix repeats the operation for
each column (or equivalently matrix with 3*K elements). In this
case R and DR are arrays with K slices, one per rotation.
</p><p>
See also: <a href="%pathto:geometry.vl_irodr;">VL_IRODR</a>(), <a href="%pathto:vl_help;">VL_HELP</a>().
</p></div></group>
